Pith Number

pith:OUK2IEVM

pith:2026:OUK2IEVM4MWWU4PC6B6XF5N5TA

not attested not anchored not stored refs pending

CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models

Anh Nguyen, Anthony Gunderman, Chase Rainwater, Duy Nguyen, Khoa Vo, Minh Vu, Ngan Le, Nghi D. Q. Bui, Sieu Tran, Taisei Hanyu, Yuki Ikebe

CodeGraphVLP pairs a persistent semantic-graph state with a code planner to succeed more often on non-Markovian robot tasks than standard VLA models.

arxiv:2604.22238 v2 · 2026-04-24 · cs.RO

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\usepackage{pith}
\pithnumber{OUK2IEVM4MWWU4PC6B6XF5N5TA}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

On real-world non-Markovian tasks, CodeGraphVLP improves task completion over strong VLA baselines and history-enabled variants while substantially lowering planning latency compared to VLM-in-the-loop planning.

C2weakest assumption

The semantic-graph state can reliably maintain task-relevant entities and relations under partial observability in cluttered real environments, allowing the code planner to perform accurate progress checks.

C3one line summary

CodeGraphVLP uses a semantic-graph state and executable code planner to enable reliable long-horizon non-Markovian robot manipulation, improving task success and lowering latency over standard VLA baselines.

Receipt and verification

First computed	2026-06-09T01:05:17.720712Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7515a412ace32d6a71e2f07d72f5bd980de31fcdf62e3a0be06f543c595d9f07

Aliases

arxiv: 2604.22238 · arxiv_version: 2604.22238v2 · doi: 10.48550/arxiv.2604.22238 · pith_short_12: OUK2IEVM4MWW · pith_short_16: OUK2IEVM4MWWU4PC · pith_short_8: OUK2IEVM

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/OUK2IEVM4MWWU4PC6B6XF5N5TA \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 7515a412ace32d6a71e2f07d72f5bd980de31fcdf62e3a0be06f543c595d9f07

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3461e6579ac03ee547dfdc08bd43f016980192101bf6b56fef773242c1a18a10",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-24T05:27:27Z",
    "title_canon_sha256": "a4da622b091f8aecb6ce44f63608b06e5d2d13f7348e521d2275ed89d9b76928"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.22238",
    "kind": "arxiv",
    "version": 2
  }
}